US20110184609A1 - Power assisted steering for an automobile - Google Patents

Power assisted steering for an automobile Download PDF

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Publication number
US20110184609A1
US20110184609A1 US13/061,863 US200913061863A US2011184609A1 US 20110184609 A1 US20110184609 A1 US 20110184609A1 US 200913061863 A US200913061863 A US 200913061863A US 2011184609 A1 US2011184609 A1 US 2011184609A1
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Prior art keywords
assist motor
electric assist
operation signal
automobile
signal
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US13/061,863
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US8725352B2 (en
Inventor
Pierre Pilaz
Stephane Cassar
Pascal Moulaire
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JTEKT Europe SAS
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JTEKT Europe SAS
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Assigned to JTEKT EUROPE reassignment JTEKT EUROPE ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CASSAR, STEPHANE, MOULAIRE, PASCAL, PILAZ, PIERRE
Publication of US20110184609A1 publication Critical patent/US20110184609A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Definitions

  • the present invention relates to a power assisted steering system, for example electric, for an automobile.
  • FIG. 1 recalls the main elements making up a power assisted steering system, for example electric, of an automobile.
  • a steering system comprises, on one hand, a mechanical portion comprising a steering wheel 2 rotatably connected to a steering column 3 , whereof the remote end of the wheel 2 carries a steering pinion engaged with a steering rack 4 , slidingly mounted in a steering gear-box 5 .
  • the two opposite ends of the steering rack 4 are connected, respectively, via connecting rods 6 and 7 , to the right and left steering wheels (not shown) of the vehicle.
  • the steering system comprises, to assist the manual force exerted by the vehicle's driver on the wheel 2 , an electric assist motor 8 with two directions of rotation.
  • the output shaft of the assist motor is coupled, via a speed reducer 9 , in particular with worm and cylindrical worm wheel or worm train, to the steering column 3 or the steering pinion or the steering rack 4 directly, so as to transmit an engine torque (possibly also a resistant torque) to said element.
  • the electric assist motor 8 is controlled by an onboard electronic computer 10 , which receives and processes various signals, coming from sensors.
  • the electronic computer 10 in particular receives an electric signal coming from a torque sensor 11 placed on the steering column 3 , and thus measuring the torque exerted by the driver on the steering wheel 2 , and an electric signal coming from a speed sensor 12 of the vehicle.
  • the electronic computer 10 controls the electric assist motor 8 , by defining a torque or assist force at any moment, able to amplify or, on the contrary, offset the force applied by the driver on the wheel 2 , according to predefined “assist laws.”
  • torque sensor used in such a power assisted steering system is complex to implement and calibrate.
  • the present invention primarily aims to provide a power assisted steering system without torque sensor that makes it possible to keep the feeling of a driver of a vehicle equipped with this system consistent with the dynamics of the vehicle.
  • the present invention relates to a power assisted steering system for an automobile comprising:
  • the processing means comprises a means for determining a signal for controlling the electric assist motor on the basis of:
  • the determination of the control signal of the electric assist motor in particular from the first and second operation signals defined above makes it possible to control the assist effort provided by the electric assist motor so as to make the driver's feeling tend towards a feeling normally desired for a given dynamic situation, without requiring the presence of a dedicated torque sensor.
  • the power assisted steering system makes it possible to keep the feeling of a driver of an automobile equipped with this system consistent with the dynamics of the automobile, and therefore not to compromise the safety of the automobile's driver and passengers.
  • the means for determining the control signal is arranged to nuance the taking into account of the first operation signal or the second operation signal as a function of the driving conditions.
  • the processing means comprises, on one hand, a means for comparing the theoretical dynamic state of the electric assist motor with the actual dynamic state of the electric assist motor determined from the measurement or calculation of the angular acceleration of the electric assist motor and the measurement or calculation of the assistance torque output by the electric assist motor, and on the other hand, the means for calculating the second operation signal arranged to calculate the second operation signal as a function of the comparison the theoretical and actual dynamic states of the electric assist motor.
  • the processing means comprises a first calculating means arranged to calculate, from the comparison of the theoretical dynamic state of the electric assist motor with the actual dynamic state of the electric assist motor, a signal representing the force resisting the steering rack.
  • the processing means comprises two calculating means arranged to calculate, from the comparison of the theoretical dynamic state of the electric assist motor with the actual dynamic state of the electric assist motor, a signal representative of the driver's action on the steering wheel of the automobile.
  • Signal representative of the driver's action on the steering wheel refers to a signal representative of the torque or turning effort exerted by the driver on the steering wheel, or a signal representative of the turning direction of the steering wheel.
  • the means for calculating the second operation signal is arranged to calculate the second operation signal as a function of the signal representative of the force resisting the steering rack and the signal representative of the driver's action on the steering wheel of the automobile.
  • the means for determining the control signal of the electric assist motor is arranged to limit the taking into account of the second operation signal so as to keep the control signal in a defined interval on either side of the value of the first operation signal.
  • the power assisted steering system comprises a speed measuring means arranged to measure the longitudinal speed of the automobile.
  • the processing means comprises a means for calculating the first operation signal arranged to calculate the first operation signal as a function of the angular position of the electric assist motor and the longitudinal speed of the automobile.
  • the means for calculating the second operation signal is arranged to calculate the second operation signal also as a function of the longitudinal speed of the automobile.
  • FIG. 1 (already mentioned) is a diagrammed perspective view of an electric power assisted steering system on a column with a traditional design.
  • FIG. 2 is a partial diagrammed view in the form of a block diagram of an electric power assisted steering system according to the invention.
  • FIG. 2 shows an electric power assisted steering system 21 for an automobile comprising:
  • the processing unit 23 comprises:
  • the processing unit 23 also comprises:
  • the processing unit 23 also comprises a means 32 for calculating the angular acceleration of the electric assist motor from the measurement of the angular position of the electric assist motor.
  • the means 27 for calculating the second control signal S 2 is arranged to calculate the second control signal S 2 as a function of the signal representative of the force resisting the steering rack and the signal representative of the driver's action on the steering wheel of the automobile.
  • the means 28 for determining the control signal S 3 of the assist motor 22 limits the taking into account of the second operation signal S 2 so as to keep the control signal S 3 in an interval defined on either side of the value of the first operation signal S 1 .
  • the width of the interval is for example defined as a percentage of the value of the first operation signal S 1 .
  • the electric power assisted steering system 21 comprises a speed measuring sensor (not shown in FIG. 2 ) arranged to measure the longitudinal speed of the automobile.
  • the means 26 for calculating the first operation signal S 1 is preferably arranged to calculate the first operation signal as a function of the angular position of the electric assist motor and the longitudinal speed of the automobile.
  • the means 27 for calculating the second operation signal S 2 is advantageously arranged to calculate the second operation signal also as a function of the longitudinal speed of the automobile.
  • the means for calculating the first and second operation signals and the means for determining the control signal could be made up of electronic or software functions arranged in a same processor, or separate processors.
  • the power assisted steering system could be an electrohydraulic assisted power steering system, and not a completely electric one.

Abstract

The invention relates to a power assisted steering system (21) that includes an electric assist motor (22) arranged to assist the manual force exerted by a driver on the steering wheel of the automobile, a processing means (23) arranged to control the electric assist motor (22), the processing means (23) including a means (28) for predetermining a signal (S3) for controlling the electric assist motor on the basis of a first operation signal (S1) determined on the basis of the angular position of the electric assist motor, and a second operation signal (S2) determined on the basis of the measurement or calculation of the angular acceleration of the electric assist motor and the measurement or calculation of the assistance torque output by the electric assist motor.

Description

    TECHNICAL FIELD
  • The present invention relates to a power assisted steering system, for example electric, for an automobile.
    • BACKGROUND
  • FIG. 1 recalls the main elements making up a power assisted steering system, for example electric, of an automobile. Such a steering system comprises, on one hand, a mechanical portion comprising a steering wheel 2 rotatably connected to a steering column 3, whereof the remote end of the wheel 2 carries a steering pinion engaged with a steering rack 4, slidingly mounted in a steering gear-box 5. The two opposite ends of the steering rack 4 are connected, respectively, via connecting rods 6 and 7, to the right and left steering wheels (not shown) of the vehicle. The steering system comprises, to assist the manual force exerted by the vehicle's driver on the wheel 2, an electric assist motor 8 with two directions of rotation. The output shaft of the assist motor is coupled, via a speed reducer 9, in particular with worm and cylindrical worm wheel or worm train, to the steering column 3 or the steering pinion or the steering rack 4 directly, so as to transmit an engine torque (possibly also a resistant torque) to said element. The electric assist motor 8 is controlled by an onboard electronic computer 10, which receives and processes various signals, coming from sensors.
  • In one usual embodiment, the electronic computer 10 in particular receives an electric signal coming from a torque sensor 11 placed on the steering column 3, and thus measuring the torque exerted by the driver on the steering wheel 2, and an electric signal coming from a speed sensor 12 of the vehicle.
  • From these various pieces of information, the electronic computer 10 controls the electric assist motor 8, by defining a torque or assist force at any moment, able to amplify or, on the contrary, offset the force applied by the driver on the wheel 2, according to predefined “assist laws.”
  • It must be noted that the torque sensor used in such a power assisted steering system is complex to implement and calibrate.
  • In order to resolve these drawbacks, it is known, in particular from patent document U.S. Pat. No. 6,250,419, to produce a power assisted steering system without torque sensor.
  • However, such a power assisted steering system is likely to cause instabilities in the control of the assist motor that can compromise the safety of the driver and passengers in an automobile equipped with such a power assisted steering system.
  • Indeed, under limit usage conditions (e.g. under conditions with very low traction, very sudden changes of traction of the black ice patch type), the automobile's driver's feeling, i.e. the torque the driver must exert on the steering wheel to move it, can be inconsistent with the driving situation and therefore bother the driver. This disruption can cause undesired movements of the steering wheel, and thereby compromise the safety of the driver and any passengers in the automobile.
    • BRIEF SUMMARY
  • The present invention primarily aims to provide a power assisted steering system without torque sensor that makes it possible to keep the feeling of a driver of a vehicle equipped with this system consistent with the dynamics of the vehicle.
  • To that end, the present invention relates to a power assisted steering system for an automobile comprising:
      • an electric assist motor arranged to assist the manual force exerted by a driver on the steering wheel of the automobile,
      • a processing means arranged to control the electric assist motor,
      • a means for calculating or measuring the assist torque output by the electric assist motor,
      • a means for measuring the angular position of the electric assist motor,
  • characterized in that
  • the processing means comprises a means for determining a signal for controlling the electric assist motor on the basis of:
      • a first operation signal determined on the basis of the angular position of the electric assist motor,
      • a second operation signal determined on the basis of:
        • the measurement or calculation of the angular acceleration of the electric assist motor,
        • the measurement or calculation of the assistance torque output by the electric assist motor.
  • The determination of the control signal of the electric assist motor in particular from the first and second operation signals defined above makes it possible to control the assist effort provided by the electric assist motor so as to make the driver's feeling tend towards a feeling normally desired for a given dynamic situation, without requiring the presence of a dedicated torque sensor.
  • Thus, the power assisted steering system according to the invention makes it possible to keep the feeling of a driver of an automobile equipped with this system consistent with the dynamics of the automobile, and therefore not to compromise the safety of the automobile's driver and passengers.
  • According to one embodiment of the invention, the means for determining the control signal is arranged to nuance the taking into account of the first operation signal or the second operation signal as a function of the driving conditions.
  • Advantageously, the processing means comprises, on one hand, a means for comparing the theoretical dynamic state of the electric assist motor with the actual dynamic state of the electric assist motor determined from the measurement or calculation of the angular acceleration of the electric assist motor and the measurement or calculation of the assistance torque output by the electric assist motor, and on the other hand, the means for calculating the second operation signal arranged to calculate the second operation signal as a function of the comparison the theoretical and actual dynamic states of the electric assist motor.
  • Preferably, the processing means comprises a first calculating means arranged to calculate, from the comparison of the theoretical dynamic state of the electric assist motor with the actual dynamic state of the electric assist motor, a signal representing the force resisting the steering rack.
  • According to one embodiment of the invention, the processing means comprises two calculating means arranged to calculate, from the comparison of the theoretical dynamic state of the electric assist motor with the actual dynamic state of the electric assist motor, a signal representative of the driver's action on the steering wheel of the automobile. Signal representative of the driver's action on the steering wheel refers to a signal representative of the torque or turning effort exerted by the driver on the steering wheel, or a signal representative of the turning direction of the steering wheel.
  • Advantageously, the means for calculating the second operation signal is arranged to calculate the second operation signal as a function of the signal representative of the force resisting the steering rack and the signal representative of the driver's action on the steering wheel of the automobile. These arrangements make it possible to improve the control of the electric assist motor because the signals representative of the force resisting the steering rack and the driver's action on the steering wheel of the automobile, respectively, make it possible on one hand to take into account the dynamics of the automobile, including under limit usage conditions, and on the other hand to take into account the driver's action on the steering wheel.
  • Preferably, the means for determining the control signal of the electric assist motor is arranged to limit the taking into account of the second operation signal so as to keep the control signal in a defined interval on either side of the value of the first operation signal.
  • According to one embodiment of the invention, the power assisted steering system comprises a speed measuring means arranged to measure the longitudinal speed of the automobile.
  • Advantageously, the processing means comprises a means for calculating the first operation signal arranged to calculate the first operation signal as a function of the angular position of the electric assist motor and the longitudinal speed of the automobile.
  • Preferably, the means for calculating the second operation signal is arranged to calculate the second operation signal also as a function of the longitudinal speed of the automobile.
    • BRIEF DESCRIPTION OF THE DRAWINGS
  • In any event, the invention will be well understood using the following description in reference to the appended diagrammatic drawing showing, as a non-limiting example, one embodiment of this electric power assisted steering system.
  • FIG. 1 (already mentioned) is a diagrammed perspective view of an electric power assisted steering system on a column with a traditional design.
  • FIG. 2 is a partial diagrammed view in the form of a block diagram of an electric power assisted steering system according to the invention.
    •  DETAILED DESCRIPTION
  • FIG. 2 shows an electric power assisted steering system 21 for an automobile comprising:
      • an electric assist motor 22 arranged to assist the manual force exerted by a driver on the steering wheel of the automobile,
      • a processing unit 23 arranged to control the electric assist motor,
      • a means 24 for calculating or measuring the assistance torque output by the electric assist motor,
      • a means 25 for measuring the angular position of the electric assist motor.
  • The processing unit 23 comprises:
      • a means 26 for calculating a first operation signal 51 arranged to calculate the first operation signal as a function of the angular position of the electric assist motor,
      • a means 27 for calculating a second operation signal S2 arranged to calculate the second operation signal,
      • a means 28 for determining a control signal S3 of the assist motor as a function of the first operation signal 51 and the second operation signal S2.
  • The processing unit 23 also comprises:
      • a means 28 for comparing the theoretical dynamic state of the electric assist motor 22 with the actual dynamic state of the electric assist motor determined from the measurement or calculation of the angular acceleration of the electric assist motor and the measurement or calculation of the assistance torque output by the electric assist motor,
      • a calculating means 29 arranged to calculate, from the comparison of the theoretical dynamic state of the electric assist motor with the actual dynamic state of the electric assist motor, a signal representative of the force resisting the steering rack,
      • a calculating means 31 arranged to calculate, from the comparison of the theoretical dynamic state of the electric assist motor with the actual dynamic state of the electric assist motor, a signal representative of the driver's action on the steering wheel of the automobile, for example a signal representative of the force or turning direction of the steering wheel.
  • Advantageously, the processing unit 23 also comprises a means 32 for calculating the angular acceleration of the electric assist motor from the measurement of the angular position of the electric assist motor.
  • The means 27 for calculating the second control signal S2 is arranged to calculate the second control signal S2 as a function of the signal representative of the force resisting the steering rack and the signal representative of the driver's action on the steering wheel of the automobile.
  • The means 28 for determining the control signal S3 of the assist motor 22 limits the taking into account of the second operation signal S2 so as to keep the control signal S3 in an interval defined on either side of the value of the first operation signal S1.
  • The width of the interval is for example defined as a percentage of the value of the first operation signal S1.
  • According to one embodiment of the invention, the electric power assisted steering system 21 comprises a speed measuring sensor (not shown in FIG. 2) arranged to measure the longitudinal speed of the automobile.
  • According to this embodiment, the means 26 for calculating the first operation signal S1 is preferably arranged to calculate the first operation signal as a function of the angular position of the electric assist motor and the longitudinal speed of the automobile.
  • According to this embodiment, the means 27 for calculating the second operation signal S2 is advantageously arranged to calculate the second operation signal also as a function of the longitudinal speed of the automobile.
  • According to another embodiment of the invention, the means for calculating the first and second operation signals and the means for determining the control signal could be made up of electronic or software functions arranged in a same processor, or separate processors.
  • The power assisted steering system could be an electrohydraulic assisted power steering system, and not a completely electric one.

Claims (9)

1. A power assisted steering system for an automobile comprising:
an electric assist motor arranged to assist manual force exerted by a driver on a steering wheel of the automobile,
a processing means arranged to control the electric assist motor,
a means for calculating or measuring assist torque output by the electric assist motor,
a means for measuring angular position of the electric assist motor, wherein
the processing means comprises a means for determining a signal for controlling the electric assist motor on the basis of:
a first operation signal determined on a basis of an angular position of the electric assist motor,
a second operation signal determined on a basis of:
a measurement or calculation of angular acceleration of the electric assist motor,
a measurement or calculation of the assistance torque output by the electric assist motor.
2. The system according to claim 1, wherein the processing means comprises a means for comparing a theoretical dynamic state of the electric assist motor with an actual dynamic state of the electric assist motor determined from the measurement or calculation of the angular acceleration of the electric assist motor and the measurement or calculation of the assistance torque output by the electric assist motor, and wherein the processing means comprises a means for calculating the second operation signal arranged to calculate the second operation signal as a function of the comparison the theoretical and actual dynamic states of the electric assist motor.
3. The system according to claim 2, wherein the processing means comprises a first calculating means arranged to calculate, from the comparison of the theoretical dynamic state of the electric assist motor with the actual dynamic state of the electric assist motor, a signal representing a force resisting the steering rack.
4. The system according to claim 2, wherein the processing means comprises two calculating means arranged to calculate, from the comparison of the theoretical dynamic state of the electric assist motor with the actual dynamic state of the electric assist motor, a signal representative of the driver's action on the steering wheel of the automobile.
5. The system according to claim 4, wherein the means for calculating the second operation signal is arranged to calculate the second operation signal as a function of the signal representative of the force resisting the steering rack and the signal representative of the driver's action on the steering wheel of the automobile.
6. The system according to claim 1, wherein the means for determining the control signal of the electric assist motor is arranged to limit the taking into account of the second operation signal so as to keep the control signal in a defined interval on either side of the value of the first operation signal.
7. The system according to claim 1, further comprising a speed measuring means arranged to measure longitudinal speed of the automobile.
8. The system according to claim 7, wherein the processing means comprises a means for calculating the first operation signal arranged to calculate the first operation signal as a function of the angular position of the electric assist motor and the longitudinal speed of the automobile.
9. The system according to claim 7, wherein the means for calculating the second operation signal is arranged to calculate the second operation signal also as a function of the longitudinal speed of the automobile.
US13/061,863 2008-09-03 2009-07-16 Power assisted steering for an automobile Active 2031-02-17 US8725352B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
FR0804828 2008-09-03
FR08/04828 2008-09-03
FR0804828A FR2935337B1 (en) 2008-09-03 2008-09-03 POWER ASSISTED STEERING SYSTEM FOR A MOTOR VEHICLE
PCT/FR2009/051412 WO2010026320A1 (en) 2008-09-03 2009-07-16 Power assisted steering system for an automobile

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US20110184609A1 true US20110184609A1 (en) 2011-07-28
US8725352B2 US8725352B2 (en) 2014-05-13

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EP (1) EP2318261B1 (en)
JP (1) JP5976318B2 (en)
AT (1) ATE544656T1 (en)
FR (1) FR2935337B1 (en)
WO (1) WO2010026320A1 (en)

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US7568551B2 (en) * 2006-03-17 2009-08-04 Mitsubishi Electric Corporation Electric power steering control apparatus
US20090240389A1 (en) * 2006-05-31 2009-09-24 Nsk Ltd Electric power steering apparatus

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US20130151081A1 (en) * 2010-08-20 2013-06-13 Jtekt Europe Securing the assistance torque by means of an estimator of the force on the rack
US8666605B2 (en) * 2010-08-20 2014-03-04 Jtekt Europe Securing the assistance torque by means of an estimator of the force on the rack
US20180237057A1 (en) * 2015-09-30 2018-08-23 Mitsuba Corporation Electric power steering device
CN108327784A (en) * 2017-01-18 2018-07-27 奥迪股份公司 The method of the control situation of vehicle with automatic control system for identification

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FR2935337A1 (en) 2010-03-05
ATE544656T1 (en) 2012-02-15
EP2318261B1 (en) 2012-02-08
EP2318261A1 (en) 2011-05-11
FR2935337B1 (en) 2010-08-27
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US8725352B2 (en) 2014-05-13
WO2010026320A1 (en) 2010-03-11

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